KDL::ChainIdSolver_RNE Class Reference
Recursive newton euler inverse dynamics solver. More...
#include <chainidsolver_recursive_newton_euler.hpp>
Public Member Functions | |
| int | CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques) |
| Function to calculate from Cartesian forces to joint torques. | |
| ChainIdSolver_RNE (const Chain &chain, Vector grav) | |
| Constructor for the solver, it will allocate all the necessary memory. | |
| ~ChainIdSolver_RNE () | |
Detailed Description
Recursive newton euler inverse dynamics solver.
The algorithm implementation is based on the book "Rigid Body Dynamics Algorithms" of Roy Featherstone, 2008 (ISBN:978-0-387-74314-1) See page 96 for the pseudo-code.
It calculates the torques for the joints, given the motion of the joints (q,qdot,qdotdot), external forces on the segments (expressed in the segments reference frame) and the dynamical parameters of the segments.
Definition at line 40 of file chainidsolver_recursive_newton_euler.hpp.
Constructor & Destructor Documentation
Constructor for the solver, it will allocate all the necessary memory.
- Parameters:
-
chain The kinematic chain to calculate the inverse dynamics for, an internal copy will be made. grav The gravity vector to use during the calculation.
Definition at line 27 of file chainidsolver_recursive_newton_euler.cpp.
References KDL::Vector::Zero().
| KDL::ChainIdSolver_RNE::~ChainIdSolver_RNE | ( | ) | [inline] |
Definition at line 48 of file chainidsolver_recursive_newton_euler.hpp.
Member Function Documentation
| int KDL::ChainIdSolver_RNE::CartToJnt | ( | const JntArray & | q, | |
| const JntArray & | q_dot, | |||
| const JntArray & | q_dotdot, | |||
| const Wrenches & | f_ext, | |||
| JntArray & | torques | |||
| ) | [virtual] |
Function to calculate from Cartesian forces to joint torques.
Input parameters;
- Parameters:
-
q The current joint positions q_dot The current joint velocities q_dotdot The current joint accelerations f_ext The external forces (no gravity) on the segments Output parameters: torques the resulting torques for the joints
Implements KDL::ChainIdSolver.
Definition at line 34 of file chainidsolver_recursive_newton_euler.cpp.
References KDL::dot(), KDL::Segment::getInertia(), KDL::Segment::getJoint(), KDL::Chain::getSegment(), KDL::Joint::getType(), KDL::Joint::None, KDL::Segment::pose(), KDL::JntArray::rows(), and KDL::Segment::twist().
Referenced by KDL::ChainDynParam::JntToCoriolis(), and KDL::ChainDynParam::JntToGravity().
The documentation for this class was generated from the following files:
